Power transmission tower insulator windage yaw monitoring method

Abstract

The invention discloses a method for monitoring windage yaw of an insulator of a power transmission tower, and belongs to the field of power transmission. An insulator monitoring and positioning device is installed at a point A under an insulator, a three-dimensional model of the transmission tower and the insulator is established, and coordinates of a point B at the joint of the transmission tower and the insulator and coordinates of a point C and a point D at the joint of a cross arm and the transmission tower are obtained; and calculating a spatial wind deflection angle, a distance L1, a distance L2 and a distance L3 of the insulator according to the coordinates of all the points, and giving an alarm prompt according to a set threshold value. According to the method, the insulator windage yaw state can be comprehensively known in real time, test data are comprehensive and accurate, line patrol personnel can more comprehensively know the insulator windage yaw state, windage yaw can be found and processed in time, the real-time performance of insulator windage yaw detection is improved, and the comprehensiveness of insulator windage yaw gap calculation is improved.

Description

Technical Field

[0001] The present invention relates to the field of power transmission, and particularly to a method for monitoring the wind deflection of insulators on transmission towers. Background Art

[0002] Insulators play an important role in the operation of transmission lines. In recent years, with the increase in severe weather, especially typhoons and strong winds, it is easy to cause the wind deflection angle of insulators to be too large, which is likely to cause short-circuit discharge between the line and the iron tower, resulting in power outages. More seriously, it is likely to cause the tower to bend and collapse. Therefore, the detection of the wind deflection of insulators is particularly important.

[0003] Currently, for the detection of the wind deflection of insulators, there are methods such as simulating the wind deflection of insulators in the laboratory to obtain the wind deflection coefficient, and then comparing it with the measured wind deflection of on-site insulators. There are also methods of installing various sensors under the insulators to obtain the attitude information of the insulators, and calculating the closest distance between the wind deflection of the insulators and the cross arm and the tower body through mathematical formulas.

[0004] When obtaining the wind deflection coefficient of insulators by simulating the wind deflection of insulators in the laboratory, the complex on-site environment is not considered. When icing occurs, there will be errors in calculating the wind deflection distance of the insulators. When calculating the minimum clearance of the wind deflection of insulators using attitude sensors, only the minimum clearance in a single plane is considered, and three-dimensional calculations are not performed. Summary of the Invention

[0005] The present invention provides a method for monitoring the wind deflection of insulators on transmission towers, which improves the real-time performance of the detection of the wind deflection of insulators and the comprehensiveness of the calculation of the wind deflection clearance of insulators.

[0006] The technical solution provided by the present invention is as follows:

[0007] A method for monitoring the wind deflection of insulators on transmission towers includes:

[0008] S1: Establish a three-dimensional model of the transmission tower and the insulators, and obtain the three-dimensional position information of point B at the connection of the transmission tower and the insulators, and the three-dimensional position information of points C and D at the connection of the cross arm and the transmission tower from the three-dimensional model;

[0009] S2: Install the insulator monitoring and positioning device at point A directly below the insulator, convert the three-dimensional positioning information of the insulator monitoring and positioning device at point A into a spatial rectangular coordinate (x6, y6, z6), and convert the three-dimensional position information of points B, C, and D into spatial rectangular coordinates (x1, y1, z1), (x2, y2, z2), and (x3, y3, z3) respectively;

[0010] S3: Take point B as the coordinate origin O to establish a space rectangular coordinate system. The positive direction of the X-axis is along the cross-arm direction and away from the cross-arm, the positive direction of the Z-axis is vertically upward, and the Y-axis is perpendicular to the XOZ plane. Calculate the translation coordinates of points A, C, and D relative to point B as A((x6 - x1), (y6 - y1), (z6 - z1)), C((x2 - x1), (y2 - y1), (z2 - z1)), and D((x3 - x1), (y3 - y1), (z3 - z1)) respectively;

[0011] S4: After the insulator deflects due to wind, the insulator monitoring and positioning device shifts from point A to point A1. Convert the three-dimensional positioning information of the insulator monitoring and positioning device at point A1 into space rectangular coordinates (x0, y0, z0), and calculate the translation coordinates of point A1 relative to point B as A1((x0 - x1), (y0 - y1), (z0 - z1));

[0012] S5: Calculate the vector of the insulator line segment before wind deflection And calculate the vector of the insulator line segment after wind deflection And based on the vector And the vector Calculate the spatial wind deflection angle θ of the insulator;

[0013]

[0014] S6: Calculate the coordinates of the projection points A', C', D', and A1' of points A, C, D, and A1 in the XOY plane respectively: A'((x6 - x1), (y6 - y1)), C'((x2 - x1), (y2 - y1)), D'((x3 - x1), (y3 - y1)), and A1'((x0 - x1), (y0 - y1));

[0015] S7: When (X0 - X6) > 0, the wind deflection of the insulator is in the first and fourth quadrants of the XOY plane, and the insulator is away from the transmission tower body and the cross-arm, without any treatment;

[0016] S8: When (X0 - X6) ≤ 0 and |y6 - y0| < |y3 - y2|, calculate the distance L1 from point A1 to the plane BCD;

[0017]

[0018] Among them, is the normal vector of the plane BCD, and the vector

[0019] S9: When (X0 - X6) ≤ 0, |y6 - y0| ≥ |y3 - y2|, and y0 - y6 > 0, calculate the distance L2 from point A1 to the straight line BC formed by points B and C;

[0020]

[0021] Among them, the vector is the direction vector of the straight line .

[0022] S10: When (X0 - X6) ≤ 0 and |y6 - y0| ≥ |y3 - y2| and y0 - y6 < 0, calculate the distance L3 from point A1 to the straight line BD formed by point B and point D;

[0023]

[0024] Among them, the vector is the direction vector of the straight line .

[0025] S11: When any one or more of the spatial wind deflection angle θ of the insulator, distance L1, distance L2, and distance L3 are less than their set thresholds, an alarm prompt is given.

[0026] Furthermore, the S1 further includes: obtaining the three-dimensional position information of points E and F on the tower body of the transmission tower from the three-dimensional model, where points E and F are located on the tower body below points C and D, and the distances between point D and point E and between point C and point F are greater than the length of the insulator;

[0027] The S2 further includes: respectively converting the three-dimensional position information of points E and F into spatial rectangular coordinates (x4, y4, z4) and (x5, y5, z5);

[0028] The S3 further includes: calculating that the translation coordinates of points E and F relative to point B are E((x4 - x1), (y4 - y1), (z4 - z1)) and F((x5 - x1), (y5 - y1), (z5 - z1)) respectively;

[0029] The S6 further includes: respectively calculating the coordinates of the projection points E' and F' of points E and F in the XOY plane: E'((x4 - x1), (y4 - y1)) and F'((x5 - x1), (y5 - y1));

[0030] The method further includes:

[0031] S12: When (X0 - X6) ≤ 0 and |y6 - y0| < |y5 - y4|, calculate the distance M1 from point A1 to the plane CDFE;

[0032]

[0033] Among them, is the normal vector of the plane CDFE, and the vector

[0034] S13: When (X0 - X6) ≤ 0 and |y6 - y0| ≥ |y5 - y4| and y0 - y6 > 0, calculate the distance M2 from point A1 to the straight line DE formed by point D and point E;

[0035]

[0036] Among them, the vector is the direction vector of the straight line ,

[0037] S14: When (X0 - X6) ≤ 0 and |y6 - y0| ≥ |y5 - y4| and y0 - y6 < 0, calculate the distance M3 from point A1 to the straight line CF formed by point C and point F;

[0038]

[0039] Among them, the vector is the direction vector of the straight line , The vector

[0040] S15: When any one or more of the spatial wind deflection angle θ of the insulator, the distance M1, the distance M2, and the distance M3 are less than their set thresholds, an alarm prompt is given.

[0041] Furthermore, a three-dimensional model of the transmission tower and the insulator is established by laser scanning or according to the construction drawings of the transmission tower.

[0042] Furthermore, the insulator monitoring and positioning device includes an RTK positioning module, a power supply module, and a wireless transmission module.

[0043] Furthermore, the power supply includes one or more of solar energy, high-energy batteries, and electromagnetic induction, and the wireless transmission module includes one or more of a LORA module, a Zigbee module, a 4G module, and a 5G module.

[0044] The present invention has the following beneficial effects:

[0045] The present invention can comprehensively and real-time understand the wind deflection state of the insulator, and the test data is comprehensive and accurate, enabling the line patrol personnel to more comprehensively understand the wind deflection state of the insulator, detect the wind deflection in a timely manner, and process it in a timely manner, improving the real-time performance of the insulator wind deflection detection and the comprehensiveness of the insulator wind deflection gap calculation. Description of the Drawings

[0046] Figure 1 It is a schematic diagram of the settings of each point and the establishment of the coordinate system in the present invention;

[0047] Figure 2 It is a projection view on the XOY plane. Detailed Embodiments

[0048] To make the technical problems, technical solutions, and advantages to be solved by the present invention clearer, the following will be described in detail with reference to the drawings and specific embodiments.

[0049] An embodiment of the present invention provides a method for monitoring the wind deflection of insulators on transmission towers, including:

[0050] S1: Establish a three-dimensional model of the transmission tower and the insulator through laser scanning or according to the construction drawings of the transmission tower, and obtain the three-dimensional position information (such as longitude and latitude coordinates, height information, etc.) of point B (i.e., the top point of the insulator) at the connection of the transmission tower and the insulator, and the three-dimensional position information of points C and D at the connection of the cross arm and the transmission tower from the three-dimensional model, as Figure 1 shown.

[0051] As an improvement, the three-dimensional position information of points E and F on the tower body of the transmission tower can also be obtained, where points E and F are on the tower body below points C and D, and the distances between point D and point E and between point C and point F are greater than the length of the insulator, as Figure 1 shown.

[0052] S2: Install the insulator monitoring and positioning device at point A directly below the insulator, convert the three-dimensional positioning information of the insulator monitoring and positioning device at point A into a space rectangular coordinate (x6, y6, z6), and convert the three-dimensional position information of points B, C, and D into space rectangular coordinates (x1, y1, z1), (x2, y2, z2), and (x3, y3, z3) respectively, as Figure 1 shown.

[0053] The insulator monitoring and positioning device includes an RTK (Real Time Kinematic, a real-time dynamic measurement technology based on carrier phase observations) positioning module, a power supply module, a wireless transmission module, etc. The RTK positioning module can obtain precise differential data by registering for a CORS account or by building its own base station around the transmission line tower to obtain three-dimensional positioning information (such as longitude and latitude coordinates, altitude information, etc.). The power supply module can use one or several of solar energy, high-energy batteries, and electromagnetic induction. The wireless transmission module can include one or more of Internet of Things transmission modules such as LORA and Zigbee, or wireless transmission modules such as 4G (the 4th generation mobile communication technology) / 5G (the 5th generation mobile networks).

[0054] LORA is the abbreviation of Long Range Radio, which means long-distance radio, referring to a low-power local area network wireless standard with the greatest feature of low power consumption and long propagation distance. Zigbee, abbreviated as Purple Bee, is a wireless network protocol for low-speed short-distance transmission.

[0055] Furthermore, the three-dimensional position information of points E and F can be respectively converted into spatial rectangular coordinates (x4, y4, z4) and (x5, y5, z5), as Figure 1 shown.

[0056] S3: Take point B as the coordinate origin O to establish a spatial rectangular coordinate system. The positive direction of the X-axis is along the cross-arm direction and away from the cross-arm, the positive direction of the Z-axis is vertically upward, and the Y-axis is perpendicular to the XOZ plane. Calculate the translation coordinates of points A, C, and D relative to point B as A((x6 - x1), (y6 - y1), (z6 - z1)), C((x2 - x1), (y2 - y1), (z2 - z1)), and D((x3 - x1), (y3 - y1), (z3 - z1)), as Figure 1 shown.

[0057] Furthermore, the translation coordinates of points E and F relative to point B can be calculated as E((x4 - x1), (y4 - y1), (z4 - z1)) and F((x5 - x1), (y5 - y1), (z5 - z1)), as Figure 1 shown.

[0058] S4: After the insulator deflects due to wind, the insulator monitoring and positioning device moves from point A to point A1. Convert the three-dimensional positioning information of the insulator monitoring and positioning device at point A1 into a spatial rectangular coordinate (x0, y0, z0), and calculate the translation coordinate A1((x0 - x1), (y0 - y1), (z0 - z1)) of point A1 relative to point B, as Figure 1 shown.

[0059] S5: Calculate the vector of the insulator line segment before wind deflection and calculate the vector of the insulator line segment after wind deflection and based on the vectors and the vector calculate the spatial wind deflection angle θ of the insulator.

[0060]

[0061] S6: Calculate the coordinates of the projection points A', C', D', and A1' of points A, C, D, and A1 in the XOY plane respectively: A'((x6 - x1), (y6 - y1)), C'((x2 - x1), (y2 - y1)), D'((x3 - x1), (y3 - y1)), and A1'((x0 - x1), (y0 - y1)), as Figure 2 shown.

[0062] Furthermore, the coordinates of the projection points E' and F' of points E and F in the XOY plane can also be calculated respectively: E'((x4 - x1), (y4 - y1)) and F'((x5 - x1), (y5 - y1)), as Figure 2 shown.

[0063] S7: When (X0 - X6) > 0, the wind deflection of the insulator is in the first and fourth quadrants of the XOY plane. The insulator is far from the transmission tower body and crossarm, and the insulator is the farthest from the crossarm and tower body, without any treatment.

[0064] S8: When (X0 - X6) ≤ 0 and |y6 - y0| < |y3 - y2|, calculate the distance L1 from point A1 to the plane BCD.

[0065]

[0066] Among them, the plane BCD is the crossarm plane, L1 is the distance from point A1 to the crossarm plane, is the normal vector of the plane BCD, and the vector

[0067] In this step, first calculate the distance between the connection point of the insulator and the line and the cross arm. The length of line segment CD is |y3 - y2|. When |y6 - y0| < |y3 - y2|, calculate the distance L1 from point A1 to the plane BCD.

[0068] Obtained from the coordinates of points B and C Obtained from the coordinates of points B and D From vector and vector Obtain the normal vector of the plane BCD

[0069]

[0070] From the formula for the distance from a point outside the space to the plane Vector Obtain the distance L1 from A1 to the cross arm plane.

[0071] S9: When (X0 - X6) ≤ 0 and |y6 - y0| ≥ |y3 - y2| and y0 - y6 > 0, point A1 is in the second quadrant of the XOY plane. Calculate the distance L2 from point A1 to the straight line BC (i.e., the edge of the cross arm) formed by points B and C.

[0072]

[0073] Among them, vector is the direction vector of the straight line

[0074] S10: When (X0 - X6) ≤ 0 and |y6 - y0| ≥ |y3 - y2| and y0 - y6 < 0, calculate the distance L3 from point A1 to the straight line BD (i.e., the edge of the cross arm) formed by points B and D.

[0075]

[0076] Among them, vector is the direction vector of the straight line

[0077] S11: When any one or more of the spatial wind deflection angle θ of the insulator, the distance L1, the distance L2, and the distance L3 is less than its set threshold value, an alarm prompt is given.

[0078] As an improvement of the embodiment of the present invention, it may further include:

[0079] ​​S12: When (X0 - X6) ≤ 0 and |y6 - y0| < |y5 - y4|, calculate the distance M1 from point A1 to the plane CDFE.

[0080]

[0081] Among them, the plane CDFE is the tower body plane, and M1 is the distance from point A1 to the tower body plane. is the normal vector of the plane CDFE, and the vector

[0082] S13: When (X0 - X6) ≤ 0, |y6 - y0| ≥ |y5 - y4|, and y0 - y6 > 0, calculate the distance M2 from point A1 to the straight line DE (i.e., the tower edge) formed by point D and point E.

[0083]

[0084] Among them, the vector is the direction vector of the straight line . = ((x4 - x3), (y4 - y3), (z4 - z3)).

[0085] S14: When (X0 - X6) ≤ 0, |y6 - y0| ≥ |y5 - y4|, and y0 - y6 < 0, calculate the distance M3 from point A1 to the straight line CF (i.e., the tower edge) formed by point C and point F.

[0086]

[0087] Among them, the vector is the direction vector of the straight line . The vector

[0088] S15: When any one or more of the spatial wind deflection angle θ of the insulator, the distance M1, the distance M2, and the distance M3 are less than their set thresholds, an alarm prompt is given.

[0089] The present invention can simultaneously include a server for data storage and processing and a display platform. After making a three-dimensional model of the tower and the insulator through laser point cloud data or tower construction drawings, the platform loads the three-dimensional model, and obtains the current wind deflection angle of the insulator and the distances L1, L2, L3, M1, M2, M3 between the insulator and the tower body through the server, and conducts a three-dimensional animation display of the tower and the insulator. The wind deflection change of the insulator can be displayed through the three-dimensional animation. The platform also supports the setting of wind deflection angle thresholds and distance thresholds. When the actual wind deflection angle of the insulator and the distance from the tower are less than the set thresholds, the platform gives an alarm prompt.

[0090] The present invention can comprehensively and real-time understand the wind deflection state of insulators, and the test data is comprehensive and accurate, enabling line patrol personnel to more comprehensively understand the wind deflection state of insulators, detect wind deflection in a timely manner, and handle it in a timely manner, improving the real-time performance of insulator wind deflection detection and the comprehensiveness of insulator wind deflection gap calculation.

[0091] The above is the preferred embodiment of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A method for monitoring the wind deflection of insulators on transmission towers, characterized in that, Including: S1: Establish a three-dimensional model of a transmission tower and insulators, and obtain the three-dimensional position information of point B at the connection between the transmission tower and the insulators, and the three-dimensional position information of points C and D at the connections between the crossarm and the transmission tower from the three-dimensional model; S2: Install the insulator monitoring and positioning device at point A directly below the insulator, convert the three-dimensional positioning information of the insulator monitoring and positioning device at point A into a spatial rectangular coordinate (x6, y6, z6), and convert the three-dimensional position information of points B, C, and D into spatial rectangular coordinates (x1, y1, z1), (x2, y2, z2), and (x3, y3, z3) respectively; S3: Take point B as the coordinate origin O to establish a spatial rectangular coordinate system, with the direction along the crossarm and away from the crossarm as the positive direction of the X axis, the vertical upward direction as the positive direction of the Z axis, and the direction perpendicular to the XOZ plane as the Y axis, and calculate the translation coordinates of points A, C, and D relative to point B as A((x6 - x1), (y6 - y1), (z6 - z1)), C((x2 - x1), (y2 - y1), (z2 - z1)), and D((x3 - x1), (y3 - y1), (z3 - z1)) respectively; S4: After the insulator deflects due to wind, the insulator monitoring and positioning device deflects from point A to point A1, convert the three-dimensional positioning information of the insulator monitoring and positioning device at point A1 into a spatial rectangular coordinate (x0, y0, z0), and calculate the translation coordinate of point A1 relative to point B as A1((x0 - x1), (y0 - y1), (z0 - z1)); S5: Calculate the vector of the insulator string segment before wind deflection occurs And calculate the vector of the insulator string segment after wind deflection occurs And based on the vectors And the vectors Calculate the spatial wind deflection angle θ of the insulator S6: Calculate the coordinates of the projection points A', C', D', and A1' of points A, C, D, and A1 in the XOY plane respectively: A'((x6 - x1), (y6 - y1)), C'((x2 - x1), (y2 - y1)), D'((x3 - x1), (y3 - y1)), and A1'((x0 - x1), (y0 - y1)); S7: When (X0 - X6) > 0, the wind deflection of the insulator is in the first and fourth quadrants of the XOY plane, and the insulator is away from the transmission tower body and the crossarm, without any treatment; S8: When (X0 - X6) ≤ 0 and |y 6 - y 0 | < |y3 - y2|, calculate the distance L1 from point A1 to the plane BCD; Among them, is the normal vector of the plane BCD, and the vector S9: When (X0 - X6) ≤ 0 and |y6 - y0| ≥ |y3 - y2| and y0 - y6 > 0, calculate the distance L2 from point A1 to the straight line BC formed by points B and C; Among them, the vector is the direction vector of the straight line , S10: When (X0 - X6) ≤ 0 and |y6 - y0| ≥ |y3 - y2| and y0 - y6 < 0, calculate the distance L3 from point A1 to the straight line BD formed by points B and D; Among them, the vector is the direction vector of the straight line , S11: When any one or more of the spatial wind deflection angle θ, distance L1, distance L2, and distance L3 of the insulator is less than its set threshold, an alarm prompt is given.

2. The method for monitoring the wind deflection of a transmission tower insulator according to claim 1, wherein The S1 further includes: obtaining the three-dimensional position information of points E and F on the tower body of the transmission tower from the three-dimensional model, where points E and F are on the tower body below points C and D, and the distances between point D and point E and between point C and point F are greater than the length of the insulator; The S2 further includes: respectively converting the three-dimensional position information of point E and point F into spatial rectangular coordinates (x4, y4, z4) and (x5, y5, z5); The S3 further includes: calculating that the translation coordinates of point E and point F relative to point B are respectively E((x4 - x1), (y4 - y1), (z4 - z1)) and F((x5 - x1), (y5 - y1), (z5 - z1)); The S6 further includes: respectively calculating the coordinates of the projection points E' and F' of point E and point F in the XOY plane: E'((x4 - x1), (y4 - y1)) and F'((x5 - x1), (y5 - y1)); The method further includes: S12: When (X0 - X6) ≤ 0 and |y6 - y0| < |y5 - y4|, calculate the distance M1 from point A1 to the plane CDFE; Among them, is the normal vector of the plane CDFE, and the vector S13: When (X0 - X6) ≤ 0 and |y6 - y0| ≥ |y5 - y4| and y0 - y6 > 0, calculate the distance M2 from point A1 to the straight line DE formed by point D and point E; Among them, the vector is the direction vector of the straight line , S14: When (X0 - X6) ≤ 0 and |y6 - y0| ≥ |y5 - y4| and y0 - y6 < 0, calculate the distance M3 from point A1 to the straight line CF formed by point C and point F; Among them, the vector is the direction vector of the straight line , The vector S15: When any one or more of the spatial wind deflection angle θ of the insulator, the distance M1, the distance M2, and the distance M3 is less than its set threshold value, an alarm prompt is given.

3. The method for monitoring the wind deflection of a transmission tower insulator according to claim 2, wherein Establish a three-dimensional model of the transmission tower and the insulator through laser scanning or according to the construction drawings of the transmission tower.

4. The method for monitoring the wind deflection of a transmission tower insulator according to claim 3, characterized in that, The insulator monitoring and positioning device includes an RTK positioning module, a power supply module, and a wireless transmission module.

5. The method for monitoring the wind deflection of transmission tower insulators according to claim 4, wherein The power supply includes one or more of solar energy, high-energy batteries, and electromagnetic induction, and the wireless transmission module includes one or more of a LORA module, a Zigbee module, a 4G module, and a 5G module.

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